Discrete Integral Sliding Mode Control in Visual Object Tracking Using Differential Kinematics

Authors:
Luis Enrique González Jiménez;Alexander Loukianov;Eduardo Bayro-Corrochano
Affiliations:
Department of Automatic Control, CINVESTAV,Unidad Guadalajara, Zapopan, México 45015;Department of Automatic Control, CINVESTAV,Unidad Guadalajara, Zapopan, México 45015;Department of Automatic Control, CINVESTAV,Unidad Guadalajara, Zapopan, México 45015
Venue:
CIARP '09 Proceedings of the 14th Iberoamerican Conference on Pattern Recognition: Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications
Year:
2009

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Abstract

A Discrete Integral Sliding Mode algorithm is proposed to control a Stereo Vision System (SVS) and perform Visual Object Tracking. The kinematical model of the structure is obtained using Geometric Algebra (GA). The localizing part was done in a real SVS in order to obtain the reference for orientation vector and the application for a Pan Tilt Unit is presented. The algorithm presents a good and robust performance.